/// <summary>
/// 距離データをカラー画像に変換する
/// </summary>
/// <param name="kinect"></param>
/// <param name="depthFrame"></param>
/// <returns></returns>
private void HeightMeasure( KinectSensor kinect, DepthImageFrame depthFrame, SkeletonFrame skeletonFrame )
{
ColorImageStream colorStream = kinect.ColorStream;
DepthImageStream depthStream = kinect.DepthStream;
// トラッキングされている最初のスケルトンを取得する
// インデックスはプレイヤーIDに対応しているのでとっておく
Skeleton[] skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo( skeletons );
int playerIndex = 0;
for ( playerIndex = 0; playerIndex < skeletons.Length; playerIndex++ ) {
if ( skeletons[playerIndex].TrackingState == SkeletonTrackingState.Tracked ) {
break;
}
}
if ( playerIndex == skeletons.Length ) {
return;
}
// トラッキングされている最初のスケルトン
Skeleton skeleton = skeletons[playerIndex];
// 実際のプレイヤーIDは、スケルトンのインデックス+1
playerIndex++;
// 頭、足先がトラッキングされていない場合は、そのままRGBカメラのデータを返す
Joint head = skeleton.Joints[JointType.Head];
Joint leftFoot = skeleton.Joints[JointType.FootLeft];
Joint rightFoot = skeleton.Joints[JointType.FootRight];
if ( (head.TrackingState != JointTrackingState.Tracked) ||
(leftFoot.TrackingState != JointTrackingState.Tracked) ||
(rightFoot.TrackingState != JointTrackingState.Tracked) ) {
return;
}
// 距離カメラのピクセルごとのデータを取得する
short[] depthPixel = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo( depthPixel );
// 距離カメラの座標に対応するRGBカメラの座標を取得する(座標合わせ)
ColorImagePoint[] colorPoint = new ColorImagePoint[depthFrame.PixelDataLength];
kinect.MapDepthFrameToColorFrame( depthStream.Format, depthPixel,
colorStream.Format, colorPoint );
// 頭のてっぺんを探す
DepthImagePoint headDepth = depthFrame.MapFromSkeletonPoint( head.Position );
int top = 0;
for ( int i = 0; (headDepth.Y - i) > 0; i++ ) {
// 一つ上のY座標を取得し、プレイヤーがいなければ、現在の座標が最上位
int index = ((headDepth.Y - i) * depthFrame.Width) + headDepth.X;
int player = depthPixel[index] & DepthImageFrame.PlayerIndexBitmask;
if ( player == playerIndex ) {
top = i;
}
}
// 頭のてっぺんを3次元座標に戻し、足の座標(下にあるほう)を取得する
// この差分で身長を測る
head.Position = depthFrame.MapToSkeletonPoint( headDepth.X, headDepth.Y - top );
Joint foot = (leftFoot.Position.Y < rightFoot.Position.Y) ? leftFoot : rightFoot;
// 背丈を表示する
DrawMeasure( kinect, colorStream, head, foot );
}
/// <summary>
/// Check queue if right hand and elbow positions are stable
/// under the condition that Status is DepthDetecting.
/// If is stable, the Status will be changed to next after doing depth calibration.
/// If not, nothing will be changed.
/// </summary>
public void DoDepthDetecting(KinectSensor sensor, DepthImageFrame depthFrame)
{
if (Status == MainStatus.DepthDetecting)
{
if (IsStable(rightHandQueue, DEPTH_HAND_TOLERANCE, DEPTH_HAND_COUNT))
{
// if is stable, calibrate depth according to avg of position near hand
SkeletonPoint handPoint = rightHandQueue.Last().Position;
DepthImagePoint centerDepthPoint = sensor.MapSkeletonPointToDepth(
handPoint, sensor.DepthStream.Format);
int[] depthArr = new int[DEPTH_NEAR_COUNT * 4];
int index = 0;
for (int i = 0; i < DEPTH_NEAR_COUNT; ++i)
{
// top
SkeletonPoint topSke = depthFrame.MapToSkeletonPoint(
centerDepthPoint.X - DEPTH_NEAR_RADIUS + (int)(DEPTH_SPAN * i),
centerDepthPoint.Y - DEPTH_NEAR_RADIUS);
depthArr[index++] = depthFrame.MapFromSkeletonPoint(topSke).Depth;
// bottom
SkeletonPoint bottomSke = depthFrame.MapToSkeletonPoint(
centerDepthPoint.X - DEPTH_NEAR_RADIUS + (int)(DEPTH_SPAN * i),
centerDepthPoint.Y + DEPTH_NEAR_RADIUS);
depthArr[index++] = depthFrame.MapFromSkeletonPoint(bottomSke).Depth;
// left
SkeletonPoint leftSke = depthFrame.MapToSkeletonPoint(
centerDepthPoint.X - DEPTH_NEAR_RADIUS,
centerDepthPoint.Y - DEPTH_NEAR_RADIUS + (int)(DEPTH_SPAN * i));
depthArr[index++] = depthFrame.MapFromSkeletonPoint(leftSke).Depth;
// right
SkeletonPoint rightSke = depthFrame.MapToSkeletonPoint(
centerDepthPoint.X + DEPTH_NEAR_RADIUS,
centerDepthPoint.Y - DEPTH_NEAR_RADIUS + (int)(DEPTH_SPAN * i));
depthArr[index++] = depthFrame.MapFromSkeletonPoint(rightSke).Depth;
}
// set median(rather than mean) depth of the list
Array.Sort(depthArr);
kCalibrator.SetDepth(depthArr[DEPTH_NEAR_COUNT / 2]);
ClearQueue();
Status = MainStatus.EdgeDetecting;
mainWindow.textBlock.Text = "Detecting edge now. Arm at four corners of the screen.";
// cooling time timer
edgeTimer.Start();
edgeCooling = true;
}
}
}
